In this paper, the real-time joint stiffness configuration strategy of a series parallel hybrid 7-DOF (degree freedom) humanoid manipulator with flexible joints in continuous motion is studied. Firstly, considering potential human robot accidental collision, combined safety index (MSI) and body injury thresholds, speed are optimized advance. Secondly, using hyperbolic tangent function for refer...

Robotics has gained popularity in education so many engineering schools are offering robotics courses. In this study, a novel robot toolbox, ‘‘ROBOLAB’’ is developed for the educational users to improve the understanding of robotics fundamentals through interactive real-time simulation. To understand manipulator movement in 3-D space with increasing number of joints is very difficult for engine...

Continuum robotic manipulators are increasingly adopted in minimal invasive surgery. However, their nonlinear behavior is challenging to model accurately, especially when subject external interaction, potentially leading poor control performance. In this letter, we investigate the feasibility of adopting a model-free multiagent reinforcement learning (RL), namely deep Q network (MADQN), 2-degre...

Along with fast progress in robot technologies, robots nowadays are able to tackle complex tasks in organized environments, like factories. However, when they are introduced to human societies, the uncertain and unstructured environments pose much challenge for them to work alone. As detailed programming to deal with all possible scenarios is way too time-consuming, one alternate is to let the ...

The paper describes the rst implementation of a Connguration Controller for a dexterous 7-DOF manipulator on an IBM-compatible personal computer. The personal computer is interfaced to a Robotics Research Corporation manipulator, and the application software is designed to support both robot control and operator interface functions. The computer hardware is enhanced with additional interface bo...

Parallel manipulators with a rotation-symmetric arm system possess all the typical advantages of parallel robots, such as high acceleration and high-accuracy positioning. Contrary to the majority of proposed parallel manipulators, the rotation-symmetric arm system leads to a large workspace in relation to the footprint of the manipulator. This paper focuses on a subclass of these manipulators w...

This paper describes the concept of an autonomous robot for harvesting cucumbers in greenhouses. A description is given of the working environment of the robot and the logistics of harvesting. It is stated that for a 2 ha Dutch nursery, 4 harvesting robots and one docking station are needed during the peak season. Based on these preliminaries, the design specifications of the harvest robot are ...

This paper deals with the kinematic and dynamic analyses of the Orthoglide 5-axis, a five-degree-of-freedom manipulator. It is derived from two manipulators: i) the Orthoglide 3-axis; a three dof translational manipulator and ii) the Agile eye; a parallel spherical wrist. First, the kinematic and dynamic models of the Orthoglide 5-axis are developed. The geometric and inertial parameters of the...

Abstract Traditional artificial gas station come on all the required 5 to 6 minutes, peak even 10 minutes or so, along with our country automobile holdings continued increase, how improve fuel efficiency become an important problem of station, according above problem, non-inductive refueling “AI” is put forward cooperate mechanical arm instead gas, this scheme can make time reduced 3 Greatly ef...

This paper presents LQG-MP (linear-quadratic Gaussian motion planning), a new approach to robot motion planning that takes into account the sensors and the controller that will be used during execution of the robot’s path. LQGMP is based on the linear-quadratic controller with Gaussian models of uncertainty, and explicitly characterizes in advance (i.e., before execution) the a-priori probabili...